23 23 2012 12

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:
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3969/
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1004-132X.
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[
1]

,
:
20111018

: (
50735008);

[2],

, : ;
;

,
RBF

(
50905189,
50905191)

[
2] ,, .
[
J].,
2006,
17(
2):
115

118.

[
3] .

[
J].,
2011,
25(
2):
141

146.

[
4]Tz
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2792

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3]

RBF ,
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3 [4],

7
[58],
,
LuGr
e RBF
,

q R

D(
q)
q+C(
q,
q)
q+G(
q)+F(
q)+d =

q R

C(
q,
q) R

nn

q R R

n1

G(
q) R

n1

(
1)

nn
D(
q) R

F(
q) R

,
1i ,
2i
g(
x2) S
t
r
ibe
ck :

2
/
x2 (
k))= Fci + (
Fsi -Fci)exp(
x2 (
k)
-(
g(
qs))

(
5)

,
Fci ;
Fsi ;

qs

(
3)~ (
5),:

F(
k)=0izi(
k)-3ihi(
x2 (
k))
zi(
k)+4ix2 (
k)(
6)
3i =0i1i4i =1i +2i

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hi(
x2 (
k))=x2 (
k) (
x2 (
k)))
g(

2 RBF

2.
1
1

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n ,

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4)

z(
h(
z(
k),
FNN
q)
q)
q)
q(

Fi =0izi(
k)+1izi(
k+1)+2ix2 (
k)

[ ]
F0i
F3i F4i 11 ,

n1

F,, T-
,

D/A (
),,
, A/D ,
,

,
q
q
q ;

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;
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F(
q) ;
q)

;
D(
C(
q);
q,
q)

;
d

x1 =q,
x2 =q,(
1)

x1 = x2

x2 (
k+1)= D-1 (
x1 (
k))(
(
k)-C(
x1 ,
x2 )
x2 (
k)-

G(
x1 (
k))-F(
x2 (
k))-d (
k))

(
2)

(
1),
F

LuGr
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zi(i=1,
2,

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zi(
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x2 (
k)))
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k) (
3)
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0i

F0i
F3i
F4i

^
^
F0i(
z)= [
W0i(
z(
k)))]T 0i(
z(
k)))
q(
q(

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^
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h
z)= [
W3i(
h(
k))
z(
k)))]T
q(
q(

3i(
h(
k))
z(
k)))
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q(

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^
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k))]T 4i(
k))
q)= [
q(
q(

(
7)

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^
^
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(
W0i
W3i
W4i
q),

W0i W3i W4i , ^

F=
^
^
^

F0i -F3i +F4i

2.
2
x1d (
k),
x1(
k) ,

e(
k)= x1 (
k)-x1d (
k)

(
8)

si(
k)=ei(
k+1)+ei(
k)

(
9)

x2si (
k)= x2di (
k)-ei(
k)

(
10)

,
x2di (
k) ;
si
di

2793

 23 23 2012 12

1 RBF

(
k)= D(
x1 )
x2si (
k+1)+C(
x1 ,
x2 )
x2si (
k)+
(
G(
x1 )+^
F(
x2 )-KDsi(
k)-Kss
a
t(
si)
11)

,
KD =d
i
ag(
Ki),
Ki >0,
Kss
a
t(
si),
Ks =d
i
ag(
Ksi),

Ksi >0,
i=1,
2,,
n
1si >

s
a
t(
si)= si/

-1

(
12)

si >0

si <-

^
W0i(
z)= -0i[
z(
k))]
si(
k)
0i(

^
(
)
(
(
(
)
)
(
)
)
]
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)
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z = 3i[
13)
3i h x2 k z k si k (

,
0i
3i
4i
2.
3

T
T
0i(
()
V(
k)= [
s(
k)]s(
k)+ [
W
k)]W
0
i k +

i=1

T
T
3i(
i(
()
[
() (
k)]W
k)]W
14)
3
i k + W4
4
i k
[W

0i = W0i -^
3i = W3i -^
4i = W4i -^
W
W0i,
W
W3i,
W
W4i

D(
k +1)-2C(
k) ,
(
1)(
7)~ (
13)(
14)
V = [
s(
k+1)]Ts(
k+1)- [
s(
k)]Ts(
k)+
n

[W

i=1
n

0
i

[W

i=1

3
i

W =2
I,
0i=3i=4i =0
00005
I,F(
q)
(
6), ,

[
1 1 1 1 1], g 9
8m/s2,
1,
:

m11 m12
(
M(
16)
q)=
m21 m22
2
2
m1 + m2 )
L1 + m2L2 +2m2L1L2cos
=(
q2
m12 = m2L2
o
s
2 + m2L1L2c
q2

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i
n
s
i
n
q2 - m2L1L2 (
q1 +q2 )
q2

C(
q,
q)=

i
n
0
m2L1L2q1s
q2
(
17)

i=1

i=1

0)=[
0 0], =10
I,
KD =20
I,
q(

2
m21 = m2L2
o
s
2 + m2L1L2c
q2 m22 = m2L2

qd (
0)= [
z(
0)=
-10], ,

m11

Lyapunov
n

s
i
nt,qd1 = -co
s
t,
i
nt;
qd2 =s
:qd (
0)= [
10][
00],
-0

W(
0)=0, ci =0
6
r
and(
1,
5),
i =150

,
si

^
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x2 )= -4i[
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k))]
si(
k)
4i(

(
1),,
n=2,,
qd1 =-0
1co
st,
1
qd2 =0

T
(
(
)
k+1)]W
0
i k+1 +
T
(
(
)
k+1)]W
3
i k+1 +

i=1

i=1

i=1

T
T
3i(
i(
()
[
()
k)]W
k)]W
3
i k - W4
4
i k 0
[W

(
15)

( 2)

2794

m1 + m2 )
gL1cos
q2 + m2gL2cos(
q1 +q2 )
(

G(
q)=
(
)
m
L
c
o
s

2g 2
q1 +q2
(
18)

T
T
4i(
i(
(
)
[
()
k+1)]W
k)]W
4
i k+1 - W0
0
i k [W

i=1

 RBF
1
m1(
kg)
(
m2 kg)

3.
5

0.
75

L1(m)
L2(m)

1.
0

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Nm/r
ad)
02(
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ad)
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12(
Nm/r
ad)

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8

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12.
0

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ad)
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(
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Fc2(
Nm)

r
ad/s)
qs1(

(
ad/s)
qs2 r

32.
0
5.
0

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1
20.
4
20.
7
17.
6
0.
13
0.
08

3~ 8

3 4
,,
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ad,
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5 ()

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LuGr
e ,
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3750s
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6 ()

7 (,
0)= [-0.
1 0])
qd (

7 8

,
O ,

8 (,
0)= [
0 0])
qd (

2795

 23 23 2012 12

,

, , 24
1199Nm,
, x2
, 7 , 1

DA, ,
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t
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9 ,

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1 x2 0
2805r
ad/s 1
0018r
ad/s
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AB ) 1
0018r
ad/s -0
0545r
ad/s
(
BC), x2
, , z1 ,

dz1
5) g(
x2),(
6) F
=0,(
dt
x2 ,
, D E F

:
[
1]Ke
rman
iM,Wong M,
Pa
t
e
lR,
e
ta
l.
Fr
i
c
t
i
onCom
a
t
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oni
n Low and Hi
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r
s
a
l- Ve
l
o
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t
pens
gh- Re
y

//Pr
Man
i
l
a
t
o
r
s[
C]
o
c.ICRA
04,
2004IEEEI
n
t.
pu

Con
f.on Robo
t
i
c
sand Au
t
oma
t
i
on.New Or
l
e
ans,

2004:
4320

4325.

[
2]Ba
s
i
l
i
oBona,Ma
r
i
naI
nd
r
i.
Fr
i
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onCompens
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//Pr
Robo
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s:
anOve
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v
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ew[
C]
o
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e
ed
i
ngso
ft
he44
t
h

IEEECon
f
e
r
enc
eon De
c
i
s
i
onand Con
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andt
he

Eu
r
ope
an Con
t
r
o
lCon
f
e
r
enc
e2005.Se
v
i
l
l
e,Spa
i
n,

2005:
4360

4367.

[
3]Ko
skoB.
Neu
r
a
lNe
two
r
ksandFu
z
z
s
t
em[M].
ySy
NewJ
e
r
s
ey:
Pr
en
t
i
c
e-Ha
l
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[
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166.

[
5]de Wi
tC C,Ol
s
s
on H,As
t
r
om K J,
e
ta
l.A New

Mode
lf
o
r Con
t
r
o
lo
fSy
s
t
ems wi
t
h Fr
i
c
t
i
on[
J].

IEEE Tr
ans
a
c
t
i
onson Au
t
oma
t
i
cCon
t
r
o
l,
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425.

[
6]B
l
imanPA.Ma
t
hema
t
i
c
a
lS
t
udyo
ft
heDah
l
sFr
i
c

t
i
on Mode
l[
J].Eu
r.J.Me
ch.,
1992,
11(
6):
835
848.

[
7]Arms
t
r
ongB,
Dupon
tP,
Canuda
sde Wi
tC.
A Su
r

veyo
f Mode
l
s,Ana
l
s
i
s Too
l
sand Compens
a
t
i
on
y
Me
t
hodsf
o
rt
heCon
t
r
o
lo
f Ma
ch
i
ne
swi
t
hFr
i
c
t
i
on

[
J].
Au
t
oma
t
i
c
a,
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30(
7):
1038

1183.

[
8]Dupon
tP,
Arms
t
r
ongB,Haywa
r
dV.
El
a
s
t
o-P
l
a
s

t
i
cFr
i
c
t
i
on Mode
l:
Con
t
a
c
tComp
l
i
anc
eandS
t
i
c
t
i
on

[
//Pr
C]
o
c
e
ed
i
ngs o
f ACC 2000.Ch
i
c
ago,2000:

1072

1077.

[
9]Ke
rman
iM R,
Pa
t
e
lRV,Moa
l
l
em M.
Fr
i
c
t
i
onI
den

t
i
f
i
c
a
t
i
onandCompens
a
t
i
oni
nRobo
t
i
cMan
i
l
a
t
o
r
s
pu
[
J].IEEE Tr
ans
a
c
t
i
ons on I
ns
t
r
umen
t
a
t
i
on and

9 ()

(
1) RBF

, Lyapunov

, LuGr
e
,

(
2),
S
t
r
i
be
ck
; ,

Me
a
su
r
emen
t,
2007,
56(
6):
2346

2353.

[
10] Ha
e
s
s
i
l
i
ed
l
and B.Ont
he Mode
l
i
ngand
g D A,F

S
imu
l
a
t
i
ono
fFr
i
c
t
i
on[
J].ASMEJ
ou
r
na
lo
fDy

nami
cSy
s
t
ems Me
a
su
r
emen
tand Con
t
r
o
l,
1991,

113(
3):
354

362.

[
11]GeSS,
Le
eT H,
Ha
r
r
i
sCJ.
Adap
t
i
veNeu
r
a
lNe
t

wo
r
kCon
t
r
o
lo
fRobo
t
i
c Man
i
l
a
t
o
r
s[M ].Lon
pu

don:Wo
r
l
dSc
i
en
t
i
f
i
c,
1998.

: ,,
1981

1 ,

4 2 ,,
1954
,,
1978

,,
1982
,,
1985

2796

( )